Improving rotation behaviour of robotic structures for micro-assembly.

David Hériban (1) , Arnaud Thiebault (1) , Michaël Gauthier (1) , Guillaume Fortier (1)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

Serial micro-assembly requires high precision robots able to produce translations and rotations to position and orient objects during assembly. In micro-scale, the translation ranges required are typically up to the millimeter and can be obtained with smart devices (piezomotor, etc...). In the other hand, the rotation ranges stay identical to the macroscale (eg. 90°) and require standard guidings like ball bearings which induce disturbances on the linear position. Thus, the ability to produce high precision robots where translations and rotations are découpled is currently one of the major stake in microassembly. This paper deals with an original modeling of the coupling between rotation and linear position. The geometrical model is presented and two calibration methods are discussed. Our method were tested on a 3 DOF planar robotic systems and the coupling was reduced by 93 %.

Domaines: Micro et nanotechnologies/Microélectronique

David Hériban, Arnaud Thiebault, Michaël Gauthier, Guillaume Fortier. Improving rotation behaviour of robotic structures for micro-assembly.. 4th IEEE Internationale Conference on Automation Science and Engineering, IEEE CASE'08., Aug 2008, Key Bridge Marriott, Washington DC, United States. pp.983-988, ⟨10.1109/COASE.2008.4626490⟩. ⟨hal-00323641⟩